Energy efficient path planning of autonomous underwater vehicles for environment modeling

Diyuan Lu; Rongxin Cui; Ping Wang

doi:10.1109/MFI.2014.6997716

Energy efficient path planning of autonomous underwater vehicles for environment modeling

Diyuan Lu
, Rongxin Cui
, Ping Wang

School of Marine Science and Technology

Northwestern Polytechnical University Xian
Pla

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

5 Scopus citations

Abstract

In this paper, we propose a path planning method of autonomous underwater vehicles (AUV) for exploring the uncertain environment, which aims to minimize the estimation uncertainty and the total energy-consumption. Grid based environment model is used for the path planning problem. Kalman filter is employed to handle the measurement information and the AUV is driven to the optimal direction which minimize the filter uncertainty and the energy consumption. Simulation results are provided to show the efficiency of our algorithm.

Original language	English
Title of host publication	Proceedings of 2014 International Conference on Multisensor Fusion and Information Integration for Intelligent Systems, MFI 2014
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9781479967322
DOIs	https://doi.org/10.1109/MFI.2014.6997716
State	Published - 23 Dec 2014
Event	2014 International Conference on Multisensor Fusion and Information Integration for Intelligent Systems, MFI 2014 - Beijing, China Duration: 28 Sep 2014 → 30 Sep 2014

Publication series

Name	Proceedings of 2014 International Conference on Multisensor Fusion and Information Integration for Intelligent Systems, MFI 2014

Conference

Conference	2014 International Conference on Multisensor Fusion and Information Integration for Intelligent Systems, MFI 2014
Country/Territory	China
City	Beijing
Period	28/09/14 → 30/09/14

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 7 Affordable and Clean Energy

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10.1109/MFI.2014.6997716

Cite this

Lu, D., Cui, R., & Wang, P. (2014). Energy efficient path planning of autonomous underwater vehicles for environment modeling. In Proceedings of 2014 International Conference on Multisensor Fusion and Information Integration for Intelligent Systems, MFI 2014 Article 6997716 (Proceedings of 2014 International Conference on Multisensor Fusion and Information Integration for Intelligent Systems, MFI 2014). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/MFI.2014.6997716

Lu, Diyuan ; Cui, Rongxin ; Wang, Ping. / Energy efficient path planning of autonomous underwater vehicles for environment modeling. Proceedings of 2014 International Conference on Multisensor Fusion and Information Integration for Intelligent Systems, MFI 2014. Institute of Electrical and Electronics Engineers Inc., 2014. (Proceedings of 2014 International Conference on Multisensor Fusion and Information Integration for Intelligent Systems, MFI 2014).

@inproceedings{3a06e521815e4a4884b61c41388f277c,

title = "Energy efficient path planning of autonomous underwater vehicles for environment modeling",

abstract = "In this paper, we propose a path planning method of autonomous underwater vehicles (AUV) for exploring the uncertain environment, which aims to minimize the estimation uncertainty and the total energy-consumption. Grid based environment model is used for the path planning problem. Kalman filter is employed to handle the measurement information and the AUV is driven to the optimal direction which minimize the filter uncertainty and the energy consumption. Simulation results are provided to show the efficiency of our algorithm.",

author = "Diyuan Lu and Rongxin Cui and Ping Wang",

note = "Publisher Copyright: {\textcopyright} 2014 IEEE.; 2014 International Conference on Multisensor Fusion and Information Integration for Intelligent Systems, MFI 2014 ; Conference date: 28-09-2014 Through 30-09-2014",

year = "2014",

month = dec,

day = "23",

doi = "10.1109/MFI.2014.6997716",

language = "英语",

series = "Proceedings of 2014 International Conference on Multisensor Fusion and Information Integration for Intelligent Systems, MFI 2014",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

booktitle = "Proceedings of 2014 International Conference on Multisensor Fusion and Information Integration for Intelligent Systems, MFI 2014",

}

Lu, D, Cui, R & Wang, P 2014, Energy efficient path planning of autonomous underwater vehicles for environment modeling. in Proceedings of 2014 International Conference on Multisensor Fusion and Information Integration for Intelligent Systems, MFI 2014., 6997716, Proceedings of 2014 International Conference on Multisensor Fusion and Information Integration for Intelligent Systems, MFI 2014, Institute of Electrical and Electronics Engineers Inc., 2014 International Conference on Multisensor Fusion and Information Integration for Intelligent Systems, MFI 2014, Beijing, China, 28/09/14. https://doi.org/10.1109/MFI.2014.6997716

Energy efficient path planning of autonomous underwater vehicles for environment modeling. / Lu, Diyuan; Cui, Rongxin; Wang, Ping.
Proceedings of 2014 International Conference on Multisensor Fusion and Information Integration for Intelligent Systems, MFI 2014. Institute of Electrical and Electronics Engineers Inc., 2014. 6997716 (Proceedings of 2014 International Conference on Multisensor Fusion and Information Integration for Intelligent Systems, MFI 2014).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Energy efficient path planning of autonomous underwater vehicles for environment modeling

AU - Lu, Diyuan

AU - Cui, Rongxin

AU - Wang, Ping

PY - 2014/12/23

Y1 - 2014/12/23

N2 - In this paper, we propose a path planning method of autonomous underwater vehicles (AUV) for exploring the uncertain environment, which aims to minimize the estimation uncertainty and the total energy-consumption. Grid based environment model is used for the path planning problem. Kalman filter is employed to handle the measurement information and the AUV is driven to the optimal direction which minimize the filter uncertainty and the energy consumption. Simulation results are provided to show the efficiency of our algorithm.

AB - In this paper, we propose a path planning method of autonomous underwater vehicles (AUV) for exploring the uncertain environment, which aims to minimize the estimation uncertainty and the total energy-consumption. Grid based environment model is used for the path planning problem. Kalman filter is employed to handle the measurement information and the AUV is driven to the optimal direction which minimize the filter uncertainty and the energy consumption. Simulation results are provided to show the efficiency of our algorithm.

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DO - 10.1109/MFI.2014.6997716

M3 - 会议稿件

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T3 - Proceedings of 2014 International Conference on Multisensor Fusion and Information Integration for Intelligent Systems, MFI 2014

BT - Proceedings of 2014 International Conference on Multisensor Fusion and Information Integration for Intelligent Systems, MFI 2014

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2014 International Conference on Multisensor Fusion and Information Integration for Intelligent Systems, MFI 2014

Y2 - 28 September 2014 through 30 September 2014

ER -

Lu D, Cui R, Wang P. Energy efficient path planning of autonomous underwater vehicles for environment modeling. In Proceedings of 2014 International Conference on Multisensor Fusion and Information Integration for Intelligent Systems, MFI 2014. Institute of Electrical and Electronics Engineers Inc. 2014. 6997716. (Proceedings of 2014 International Conference on Multisensor Fusion and Information Integration for Intelligent Systems, MFI 2014). doi: 10.1109/MFI.2014.6997716

Energy efficient path planning of autonomous underwater vehicles for environment modeling

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